Emergency! Need Help With Ir Sensors

[magical hands]

Hi! guys I only have 7 more days and I am not even done with my IR sensors.
* The problem I am having is Using navigate.c whenever i put navigate.c in my robot it doesn't work unless i connect the motors to PWM 3&4 and. Once I am done connecting the motors to PWM 3&4 the robot goes crazy it just goes everywhere and it doesn't move it's servon motors and doesn't detect beacon.

* When I put my Motors on PWM 13 & 15 the robot doesn't move at all it doesn't perform any movement all it does is just straightens up the sensors and that's it. The programm gives the command "MOVE TO CENTRE" but it doesn't perform the action.

* Does anyone know why I am having this troubles please help me? I am pretty much furustrated and if you want to contact me my msn is jigarjuhi@yahoo.ca and that's my e-mail so it's 2 in 1. Please help me!